C:/Documents and Settings/student/My Documents/robo_magellan/visual_studio_(system_controller)/system_controller/PlatformController/PlatformControllerMainForm.cs

Go to the documentation of this file.

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;


namespace PlatformController {
    public partial class PlatformControllerMainForm : Form {

                //this form is just a shell for the Platform Strategy class
                PlatformStrategy _strategy;
                public PlatformStrategy Strategy {
                        get { return _strategy; }
                }

        bool _silent = true;
                public bool Silent {
                        get { return _silent; }
                        set {
                                _silent = value;
                                if (_silent) {
                                        _strategy.updateUiEvent -= updateUi;
                                        _strategy.setSilentModeEvent -= setSilentMode;
                                } else {
                                        _strategy.updateUiEvent += updateUi;
                                        _strategy.setSilentModeEvent += setSilentMode;
                                }
                        }
                }

                string _status = "ok";
                public string Status {
                        get { return _status; }
                }

                //default constructor
        public PlatformControllerMainForm() {
            InitializeComponent();
                        _strategy = new PlatformStrategy("COM3", 0);
                        initializeObject();
        }

                //shell constructor, the strategy and data objects are passed in as references
                public PlatformControllerMainForm(ref PlatformStrategy strategy) {
                        InitializeComponent();
                        _strategy = strategy;
                        initializeObject();
                        onInitialize(); //call because strategy object was initialized non-graphically
                }

                private void initializeObject() {
                        _strategy.updateStatusEvent += onInitialize;
                        toolStripStatusLabel2.Text = _strategy.Status;
                }

                private void onInitialize() {
                        if (!_silent) {
                                toolStripStatusLabel1.Text = _strategy.Data.Status;
                                if (_strategy.Data.Status == "plat_init")
                                        toolStripStatusLabel1.BackColor = Color.Green;
                                else
                                        toolStripStatusLabel1.BackColor = Color.Red;
                        }
                }

                //called by delegate
                private void setSilentMode() {
                        if (Silent != _strategy.Silent)
                                Silent = _strategy.Silent;
                }

        private void hideButton_Click(object sender, EventArgs e) {
            this.Hide();
        }

                private void updateUi() {
                        debugTextBox.Text = _strategy.Data.PlatformBuffer;
                        systemVoltageTextBox.Text = Math.Round(_strategy.Data.SystemBatteryVolts, 2).ToString();
                        microVoltageTextBox.Text = Math.Round(_strategy.Data.MicroBatteryVolts, 2).ToString();
                        infraredLeftTextBox.Text = Math.Round(_strategy.Data.InfraredLeftCm, 2).ToString();
                        infraredRightTextBox.Text = Math.Round(_strategy.Data.InfraredRightCm, 2).ToString();
                        sonarLeftTextBox.Text = Math.Round(_strategy.Data.SonarRangefinderLeftCm, 2).ToString();
                        sonarCenterTextBox.Text = Math.Round(_strategy.Data.SonarRangefinderCenterCm, 2).ToString();
                        sonarRightTextBox.Text = Math.Round(_strategy.Data.SonarRangefinderRightCm, 2).ToString();
                        bumperLeftTextBox.Text = _strategy.Data.BumperLeft.ToString();
                        bumperRightTextBox.Text = _strategy.Data.BumperRight.ToString();
                        resetSwitchCheckBox.Checked = _strategy.Data.ResetSwitch;
                        radioControlModeCheckBox.Checked = _strategy.Data.RadioControlModeSwitch;
                        redLedCheckBox.Checked = _strategy.Data.RedLedValue;
                        greenLedCheckBox.Checked = _strategy.Data.GreenLedValue;
                        steeringCalculatedTextBox.Text = _strategy.Data.SteeringCalculatedValue.ToString();
                        throttleCalculatedTextBox.Text = _strategy.Data.ThrottleCalculatedValue.ToString();
                        autoAvoidingCheckBox.Checked = _strategy.Data.AutoAvoiding;
                        compassHeadingTextBox.Text = Math.Round(_strategy.Data.CompassHeadingDouble, 2).ToString();
                        dataUpdateRateTextBox.Text = _strategy.WatchdogTimer.ElapsedMilliseconds.ToString();
                }

                private void openCom1Button_Click(object sender, EventArgs e) {
                        toolStripStatusLabel2.Text = _strategy.openPort();
                        toolStripStatusLabel1.Text = _strategy.Data.Status;
                        if (_strategy.Data.Status == "plat_init")
                                toolStripStatusLabel1.BackColor = Color.Green;
                }

        private void closeCom1Button_Click(object sender, EventArgs e) {
                        toolStripStatusLabel2.Text = _strategy.closePort();
                        toolStripStatusLabel1.BackColor = Color.Red;
                        toolStripStatusLabel1.Text = "not initialized";
        }

        private void clearDebugWindowButton_Click(object sender, EventArgs e) {
                        debugTextBox.Clear();
        }

        private void platformControllerSerialPortToolStripMenuItem_Click(object sender, EventArgs e) {
                        _strategy.showSerialPort();
        }

        private void silentCheckBox_CheckedChanged(object sender, EventArgs e) {
                        _strategy.setSilentMode(silentCheckBox.Checked);
                        Silent = silentCheckBox.Checked;
                        onInitialize();
        }

                private void makeItCLaunchToolStripMenuItem_Click(object sender, EventArgs e) {
                        System.Diagnostics.Process makeItC = new System.Diagnostics.Process();
                        makeItC.StartInfo.FileName = "C:\\Program Files\\Coridium\\bin\\MakeItC.exe";
                        makeItC.StartInfo.WorkingDirectory = "C:\\Program Files\\Coridium\\bin\\";
                        makeItC.Start();
                        System.Diagnostics.Process npp = new System.Diagnostics.Process();
                        npp.StartInfo.FileName = "C:\\Program Files\\Notepad++\\notepad++.exe";
                        npp.Start();
                }

                private void platformControllerResetToolStripMenuItem_Click(object sender, EventArgs e) {
                        _strategy.resetPlatformController();
                }

                private void sendCommandEventRaised(object sender, EventArgs e) {
                        Control cntrl = (Control)sender;
                        if (cntrl.Text == "Enabled")
                                _strategy.sendSerialCommand('q', (byte)((CheckBox)cntrl).Checked.CompareTo(false));
                        else if (cntrl.Text == "Red LED On") _strategy.redLedOn();
                        else if (cntrl.Text == "Red LED Off") _strategy.redLedOff();
                        else if (cntrl.Text == "Green LED On") _strategy.greenLedOn();
                        else if (cntrl.Text == "Green LED Off") _strategy.greenLedOff();
                }

    }
}

---